Sensor pub-sub

Description

The system consists of a consumer an N-publishers identified by an 8 bit id.

A publisher simulates "random" motion of a device and outputs the resultant sensor readings with artificial measurement noise superimposed on top. It sends the packet containing the IMU payload as a datagram with a sequence number for ordering.

The consumer collects messages and puts them in a queue corresponding to the sender for ordering. After each packet it attempts to update the estimated orientation of remote sensors. It uses a simple complementary filter which combines integrated gyroscope rates for fine movement accuracy and tilt-compensated magnetometer readings for long term stability and recovery of orientation.

The coordinate system assumed is as per the below image

Installation

Recommended python3.12+

1. Clone this repository
2. Run pip install -r requirements.txt
3. Optionally run pip install -r requirements-vis.txt
4. Using visualization on linux might require the libxcb-cursor0 package

Running the Application

To start the consumer:

python3 -m src.consumer --socket-path ./tmp.sock

To start the publisher:

python3 -m src.publisher --socket-path ./tmp.sock --frequency-hz 500

Both accept a --visualize flag which will display the internal orientation of the publisher or the orientation estimated by the consumer

Examples

• Video showing 2 publishers pushing updates to the consumer, with visualization enabled

demo_A.webm

• Video showing recovery capability of both processes.

demo_recovery.webm